I have owned everything from a Toyota Corolla to a BMW. As I have gotten older practicality and reliability are huge factors in my decision making now. The Xterra is the best midsize SUV on the market. It is also the best value. Do your own research and see for yourself. Depending on where you are in the country you should be able to get a new one at or under invoice if rebates are included. Major improvement over the old body style and engines.
The 4WD is incredible for off roading and I do not even have the Off Road package. Fuel economy is slightly better than advertised if you spend the majority of the time doing the speed limit.
The base radio can be improved but not a big deal. A little more leg room in the back would be nice but I don't ride back there so not a big deal for me either plus I ride like a brother in a Cadillac with my seat back so my backseat passengers get the dirty end of the stick anyways.